通过对六自由度机械臂的轨迹规划的具体分析!基于其运动学模型的算法的模拟实现!关节空间中的轨迹规化等方面的全过程的研究,阐述了机器人轨迹规划的一般规律"运用的规划方法可以很好解决在机械臂在工作过程中的平稳性,以及控制时的实时性和精确性等矛盾问题"

-Through the six degrees of freedom manipulator trajectory planning of specific analysis! Algorithm based on its kinematic model simulation to achieve! Joint space trajectory regulation and other aspects of the whole process of research, explains the general rules of robot trajectory planning " the use of planning approach can be solved in the course of their work at arm' s stability, as well as real-time control and accuracy such contradictions. "